Computerized simultaneous laser marking and targeting system

ABSTRACT

What is new in this invention, it is the complete automation of the remote marking process. It is completely computer controlled and made possible by laser printer type marking/pointer equipment. 
     Also, completely new is the concept of embedding digital information into a laser beam or other coherent information vector and attaching this way data/information to any object or place. 
     New is the idea of using a discrete information vector not only as a beacon but also as a selector for the marking of more than one target objects. 
     New is the idea of completely software controlled computerized digital marking of places or objects for closing motion control loops. No on-site human operators/soldiers needed. No position sensors needed anymore, nothing is bolted down, easy to reconfigure any environment. 
     The invention is a major step in robotics and controls, improving considerably the eye-hand coordination of robots, making fully possible the action of the digital world on the real/physical world.

RELATED APPLICATIONS

This application for U.S. patent is a non-provisional conversion of U.S.provisional application for patent Ser. No. 60/525,809 filed on Nov.28/2003, and claims the benefit thereof.

BACKGROUND OF THE INVENTION

Marking is an important component in the processing of objects. Markingis actually communicating information and decisions to the processingunits. Even for a temporary marking, like for a processing phase,labeling and scanning has been used. The method is restrictive, becausethe object has to be oriented all the time towards the scanners,otherwise the labels cannot be read. After a certain processing phase,the label may become obsolete, creating confusion. It needs additionalequipment and time in the processing flow for this type of marking.Handling of large size objects makes the classical method of markingalso too slow. Labels can be read one at a time, slowing down theparallel processing.

There are other fields, like in the military, where marking is alsoimportant—identifying the difference between target and neutral or evenfriendly object—but labeling is impossible. Classical laser targeting issequential, one object after the other, where the targeting has tofollow the target until processing completes, making parallel processingimpossible.

Thus there is a need for parallel processing, for a higher efficiency,and preferably for a substantially simultaneous marking.

SUMMARY OF THE INVENTION

The invention is directed to increasing the efficiency of existing lasermarking and targeting systems, helping also decision making and processcontrol.

The simultaneous laser marking/targeting system (SLTS) scans the fieldand simultaneously target multiple objects—indifferent to their physicalorientation, subjects of future processing—with a coded laser, such thateach object is receiving and reflecting specific information. Thereflected information is read and used by one or more processing unitsto locate, to select, to approach and to process in the same time theselected objects. The marking and targeting system is controlled by atleast one computer.

A human operator can select the targets thru a human-machine interface(HMI), ‘by mouse-click’. The presence of a human operator is optional.Decision making can be aided by image recognition software workingtogether with at least one database. This can reduce the risk of humanerror, avoiding wrongful processing like friendly fire or civiliancasualties.

The differences from the classical “point the target” procedure to thesimultaneous targeting are like from the sequential search ofinformation on magnetic bands to the direct memory access onhard-drives, the advantages are undeniable.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a general view of the application of the invention.

FIG. 2 is an image of the processing area, with subjects of processingand neutral objects.

FIG. 3 is an image of the laser control camera, with multiple appliedmarks/labels.

FIG. 4 is a combined picture of FIG. 2 and FIG. 3, showing themarked/targeted objects and the neutral objects together. This is theimage displayed on the HMI.

FIG. 5 is a calibration raster for the SLTS.

FIG. 6 is a representation of the working principle of the simultaneouslaser targeting unit (SLTU).

FIG. 7 is a representation of the sensor array of a processing unit.

DETAILED DESCRIPTION OF THE INVENTION

In all drawings:

-   1 Simultaneous Laser Targeting equipment (SLT)-   2 Simultaneous Laser Targeting Unit (SLTU)-   3 Video Camera (VC)-   4 Laser Control Camera (LCC)-   11, 12, 13—Processing Units (PU)-   101, 102, 103, 104—Target Objects (TO)-   201, 202—Neutral Objects (NO)-   100—Computer-   99—Human Machine Interface (HMI)-   501—SLTU Controller-   511—Laser-   512—Laser Control Unit-   521—Rotating Mirror-   522—Horizontal Servo Motor-   523—Vertical Servo Motor-   601, 602, 603, 604—Guiding Sensors-   605—Selector Sensor

FIG. 1 is a general view of the application of the invention as atargeting system. From a multitude of objects, 101-104 are selected astarget. The rest of the objects—201 and 202—are considered neutral andare not targeted. Targeting is executed by 1, the SLT. The simultaneouslaser targeting equipment 1 (SLT) has as components the simultaneouslaser targeting unit 2 (SLTU), the video camera 3 (VC) and the lasercontrol camera 4 (LCC).

The video camera 3 (VC) is observing the field and is delivering theinput to the system. The information given by 3 is processed by100—computer with an image recognition software and database, or a humanoperator 99, selecting the targets and the procedure to apply. Thetargets are marked by the simultaneous laser targeting unit 2 (SLTU) anddiscrete information is sent via the laser to each target. The lasercontrol camera 4 is reading the reflected targeting information, helpingmaking the adjustments and corrections if necessary. It is actuallyclosing the control loop for targeting.

The reflected laser beam's coded information is read by the processingunits 11, 12 and 13. These units can be simply pre-programmed, like 12,or they can have a communication to the computer 100 or other computers,being hard-wired like 11 or wireless like 13. The processing unitshaving a SMART-type of guiding system, they can use the reflectedsignals as a beacon, selecting their own targets and applying therequired processing to them, in accordance to the laser beam's decodedinformation and controls.

FIG. 2 is an image of the processing area with the marked objects 101,102, 103, 104 and the neutral objects 201, 202. It is the image capturedby the video camera 3, the input for the targeting system.

FIG. 3 is the image captured by the laser control camera 4, the actualfeed-back.

FIG. 4 is the combined image of the VC and LCC, actually displayed onthe HMI display 99. This is what the human operator sees on his display.

FIG. 5 is a calibration raster to align the SLTU, VC and LCC. The ideais similar to the aligning of touch-screens. Corrections are made in thecontrols, until the 4 corners and the center of all 3 images—video 3,marking 2 and feed-back 4—are perfectly aligned.

FIG. 6 is a representation of the working principle of 2, the SLTU. Itis similar to the working principle of laser-printers, but it is using adifferent type of laser—one compatible with smart guiding systems—andthe laser is oriented towards external targets.

The laser is not used to discharge an electro-statically charged film,it is transmitting and projecting an information package to the targets.The SLTU controller 501 is receiving the targeting information from thecomputer 100. It is controlling the elevation and azimuth of the laserbeam by tilting and rotating the mirror 521 with the help of thevertical and horizontal servo-motors 523 and 522. The laser beam doesn'thave to scan pixel by pixel the whole visual field, like a full page inprinting, it can be oriented directly to the coordinates, one targetafter the other, repeatedly. Being no need for a full scan, it ispossible to achieve a high repetition rate, making the marking virtuallysimultaneous.

The 501 is sending the coded information to the laser control unit 512,which is commanding the laser gun 511.

FIG. 7 is a representation of the sensor array of a processing unit. Theprocessing unit is reading the reflected information with the selectorsensor 605. If it is match, it is aligning himself on the target and itis approaching it using the guide sensors 601, 602, 603 and 604.Otherwise, if there is no match, the processing unit is searching for another target, until it finds its own.

As military applications, there are all the targeting systems, which canbe improved considerably, from UAVs and the anti-tank systems to theICBM defense, so called anti-rocket rocket systems, the ‘Star War’defense system.

This type of marking can be used in non military purposes too, like in arobotic production environment, internet surgery, unmanned vehicles or amultiple axis CNC machine.

It will be appreciated by those of ordinary skill in the art that thepresent invention can be embodied in other specific forms withoutdeparting from the spirit or essential characteristics thereof. Thepresently disclosed embodiments are therefore considered in all respectsto be illustrative and not restrictive. The scope of the invention isindicated by the appended claims rather than the foregoing description,and all changes that come within the meaning and range of equivalentsthereof are intended to be embraced therein.

1. A method for simultaneous marking and guiding for processing of oneor more targeted objects, comprising projecting information vectors onthe surface of said targeted objects, said reflected information vectorsare used as beacon for guidance and as selector to differentiate andidentify the targeted objects by the processing units.
 2. The method forsimultaneous marking and guiding for processing of claim 1, wherein saidinformation vector is a coherent information carrier being focused andconvergent on the surface(s) of said targeted object(s).
 3. The methodfor simultaneous marking and guiding for processing of claim 1, whereinsaid information vector is carrying a discrete information to each saidtargeted object.
 4. The method for simultaneous marking and guiding forprocessing of claim 1, wherein said discrete information is reflected bysaid targeted objects, marking the said targeted objects by physicallyattaching said discrete information to them.
 5. The method forsimultaneous marking and guiding for processing of claim 1, wherein saidreflected information vector is used as a beacon for guidance by saidprocessing units.
 6. The method for simultaneous marking and guiding forprocessing of claim 1, wherein said reflected discrete information isread and decoded by the processing unit.
 7. The method for simultaneousmarking and guiding for processing of claim 1, wherein said reflecteddiscrete information is used as a selector to identify and select thetargeted object by the processing unit.
 8. The method for simultaneousmarking and guiding for processing of claim 1, wherein said discreteinformation is containing at least one identification code and one ormore optional processing code.
 9. The method for simultaneous markingand guiding for processing of claim 1, wherein said information vectoris repeatedly scanning at high speed the processing zone and it isrepeatedly marking the targeted objects making the marking simultaneous.10. A system for simultaneous marking and guiding for processing of oneor more targeted objects comprising: a simultaneous marking meanscomposed of; a computer and process control means for command andcontrol of the marking and the processing units, and an input means,having a human-machine interface for manual target and procedureselection, and an input-output means, having a simultaneous discretetargeting equipment for the visual inputs and physical marking of thetargeted objects; a discrete guiding means composed of; a discretedecoder means, for reading and decoding the discrete informationreflected by the target and selection of the target by the processingunit, and a guiding means, for guiding the processing unit towards theselected target.
 11. The system for simultaneous marking and guiding forprocessing of one or more targeted objects as claimed in claim 10,wherein said input-output means is comprising a simultaneous lasertargeting unit, a video camera and an optional laser control camera. 12.The system for simultaneous marking and guiding for processing of one ormore targeted objects as claimed in claim 10, wherein said computer andprocess control is processing information received from a digital videocamera, a human-machine interface and/or an image recognition softwarein combination with at least one database.
 13. The system forsimultaneous marking and guiding for processing of one or more targetedobjects as claimed in claim 10, wherein said computer and processcontrol is controlling said simultaneous discrete targeting equipmentand said processing units according to inputs and processed data. 14.The system for simultaneous marking and guiding for processing of one ormore targeted objects as claimed in claim 10, wherein said discreteguiding system is using reflected discrete information as a beacon fororientation and as a selector for identification of the targeted object.15. The system for simultaneous marking and guiding for processing ofone or more targeted objects as claimed in claim 10, wherein saidsimultaneous laser targeting unit is using a coded laser beam as adiscrete information vector, repeatedly projecting it on the surfaces ofthe targeted objects.
 16. The system for simultaneous marking andguiding for processing of one or more targeted objects as claimed inclaim 10, wherein said coded laser beam is deflected from the surface ofa mirror in motion with the purpose of scanning a certain area.
 17. Thesystem for simultaneous marking and guiding for processing of one ormore targeted objects as claimed in claim 10, wherein the scanning areais identical to the visual field of the video camera, the laser controlcamera and the displayed area on the HMI.
 18. The system forsimultaneous marking and guiding for processing of one or more targetedobjects as claimed in claim 10, wherein a calibration raster is used toalign the cameras and the simultaneous laser targeting unit.
 19. Thesystem for simultaneous marking and guiding for processing of one ormore targeted objects as claimed in claim 10, wherein a laser controlunit is coding the laser by digitizing the continuous laser beam. 20.The system for simultaneous marking and guiding for processing of one ormore targeted objects as claimed in claim 10, wherein the saidsimultaneous discrete targeting equipment by repeated high speed markingis achieving the simultaneous effect.